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<p><code>#include &lt;<a class="el" href="PxSolverDefs_8h_source.html">PxSolverDefs.h</a>&gt;</code></p>
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Collaboration diagram for PxSolverConstraintDesc:</div>
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Public Types</h2></td></tr>
<tr class="memitem:aa0a51c38561792f72763a9e214eaa150"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150">ConstraintType</a> { <a class="el" href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150af07aa2676bc3a0f445124a369d76178d">eCONTACT_CONSTRAINT</a>, 
<a class="el" href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150a964367059d7c0c8b31ee93cd614a1aac">eJOINT_CONSTRAINT</a>
 }</td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a379414a179a4e7e86d34877f1e70cf97"><td class="memItemLeft" >union {</td></tr>
<tr class="memitem:a715fbcfb4482ae54db38fc27324fa0c5"><td class="memItemLeft" >&#160;&#160;&#160;<a class="el" href="structPxSolverBody.html">PxSolverBody</a> *&#160;&#160;&#160;<a class="el" href="structPxSolverConstraintDesc.html#a917f6a5b6829c4c6f8f44182628e4e2e">bodyA</a></td></tr>
<tr class="memdesc:a715fbcfb4482ae54db38fc27324fa0c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">bodyA pointer  <a href="#a715fbcfb4482ae54db38fc27324fa0c5">More...</a><br /></td></tr>
<tr class="separator:a715fbcfb4482ae54db38fc27324fa0c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa15f5de986f10d0445a6f9d710669faf"><td class="memItemLeft" >&#160;&#160;&#160;<a class="el" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a> *&#160;&#160;&#160;<a class="el" href="structPxSolverConstraintDesc.html#a4e75c52e5f71af359af9b62c3f709564">tgsBodyA</a></td></tr>
<tr class="memdesc:aa15f5de986f10d0445a6f9d710669faf"><td class="mdescLeft">&#160;</td><td class="mdescRight">bodyA pointer  <a href="#aa15f5de986f10d0445a6f9d710669faf">More...</a><br /></td></tr>
<tr class="separator:aa15f5de986f10d0445a6f9d710669faf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0f5bb72e0ebbf254def5e486c949b623"><td class="memItemLeft" >&#160;&#160;&#160;Dy::ArticulationV *&#160;&#160;&#160;<a class="el" href="structPxSolverConstraintDesc.html#a591b8d338b0e9932d67f405542776065">articulationA</a></td></tr>
<tr class="memdesc:a0f5bb72e0ebbf254def5e486c949b623"><td class="mdescLeft">&#160;</td><td class="mdescRight">Articulation pointer for body A.  <a href="#a0f5bb72e0ebbf254def5e486c949b623">More...</a><br /></td></tr>
<tr class="separator:a0f5bb72e0ebbf254def5e486c949b623"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a379414a179a4e7e86d34877f1e70cf97"><td class="memItemLeft" valign="top">};&#160;</td><td class="memItemRight" valign="bottom"></td></tr>
<tr class="separator:a379414a179a4e7e86d34877f1e70cf97"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acaabb08eb4c3d4bc24405f3dc267096b"><td class="memItemLeft" >union {</td></tr>
<tr class="memitem:ad1be2b593158a036f0ec384f50403417"><td class="memItemLeft" >&#160;&#160;&#160;<a class="el" href="structPxSolverBody.html">PxSolverBody</a> *&#160;&#160;&#160;<a class="el" href="structPxSolverConstraintDesc.html#a6144adf5b9396847a54da7d7c17a770f">bodyB</a></td></tr>
<tr class="memdesc:ad1be2b593158a036f0ec384f50403417"><td class="mdescLeft">&#160;</td><td class="mdescRight">BodyB pointer.  <a href="#ad1be2b593158a036f0ec384f50403417">More...</a><br /></td></tr>
<tr class="separator:ad1be2b593158a036f0ec384f50403417"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5b215b52e3ce7d0fdfdc33c98cbc7094"><td class="memItemLeft" >&#160;&#160;&#160;<a class="el" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a> *&#160;&#160;&#160;<a class="el" href="structPxSolverConstraintDesc.html#a25fc01cac6b0554cac348a5c47430dc0">tgsBodyB</a></td></tr>
<tr class="memdesc:a5b215b52e3ce7d0fdfdc33c98cbc7094"><td class="mdescLeft">&#160;</td><td class="mdescRight">BodyB pointer.  <a href="#a5b215b52e3ce7d0fdfdc33c98cbc7094">More...</a><br /></td></tr>
<tr class="separator:a5b215b52e3ce7d0fdfdc33c98cbc7094"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d2fe4dcdc413252a71b085a04ab394c"><td class="memItemLeft" >&#160;&#160;&#160;Dy::ArticulationV *&#160;&#160;&#160;<a class="el" href="structPxSolverConstraintDesc.html#a1452b23eaf124e9740f26e4bb98477ca">articulationB</a></td></tr>
<tr class="memdesc:a4d2fe4dcdc413252a71b085a04ab394c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Articulation pointer for body B.  <a href="#a4d2fe4dcdc413252a71b085a04ab394c">More...</a><br /></td></tr>
<tr class="separator:a4d2fe4dcdc413252a71b085a04ab394c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acaabb08eb4c3d4bc24405f3dc267096b"><td class="memItemLeft" valign="top">};&#160;</td><td class="memItemRight" valign="bottom"></td></tr>
<tr class="separator:acaabb08eb4c3d4bc24405f3dc267096b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7d352db61fd0a031d9574a4322e629d"><td class="memItemLeft" align="right" valign="top">PxU16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#ab7d352db61fd0a031d9574a4322e629d">linkIndexA</a></td></tr>
<tr class="memdesc:ab7d352db61fd0a031d9574a4322e629d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Link index defining which link in Articulation A this constraint affects. If not an articulation, must be NO_LINK.  <a href="#ab7d352db61fd0a031d9574a4322e629d">More...</a><br /></td></tr>
<tr class="separator:ab7d352db61fd0a031d9574a4322e629d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a833220f6cf3fef57bee54a4cfaa81049"><td class="memItemLeft" align="right" valign="top">PxU16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#a833220f6cf3fef57bee54a4cfaa81049">linkIndexB</a></td></tr>
<tr class="memdesc:a833220f6cf3fef57bee54a4cfaa81049"><td class="mdescLeft">&#160;</td><td class="mdescRight">Link index defining which link in Articulation B this constraint affects. If not an articulation, must be NO_LINK.  <a href="#a833220f6cf3fef57bee54a4cfaa81049">More...</a><br /></td></tr>
<tr class="separator:a833220f6cf3fef57bee54a4cfaa81049"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a75d8cc26a512bd1e1a1e1a965decfa83"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#a75d8cc26a512bd1e1a1e1a965decfa83">bodyADataIndex</a></td></tr>
<tr class="memdesc:a75d8cc26a512bd1e1a1e1a965decfa83"><td class="mdescLeft">&#160;</td><td class="mdescRight">Body A's index into the SolverBodyData array.  <a href="#a75d8cc26a512bd1e1a1e1a965decfa83">More...</a><br /></td></tr>
<tr class="separator:a75d8cc26a512bd1e1a1e1a965decfa83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0e7c10b35dcc40b914857957fa64beb2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#a0e7c10b35dcc40b914857957fa64beb2">bodyBDataIndex</a></td></tr>
<tr class="memdesc:a0e7c10b35dcc40b914857957fa64beb2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Body B's index into the SolverBodyData array.  <a href="#a0e7c10b35dcc40b914857957fa64beb2">More...</a><br /></td></tr>
<tr class="separator:a0e7c10b35dcc40b914857957fa64beb2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaa77283c5efaa8f2b11611881729e8b8"><td class="memItemLeft" align="right" valign="top">PxU16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#aaa77283c5efaa8f2b11611881729e8b8">writeBackLengthOver4</a></td></tr>
<tr class="memdesc:aaa77283c5efaa8f2b11611881729e8b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">writeBackLength/4, max writeback length is 256K, allows <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> to fit in 32 bytes  <a href="#aaa77283c5efaa8f2b11611881729e8b8">More...</a><br /></td></tr>
<tr class="separator:aaa77283c5efaa8f2b11611881729e8b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a417fed9862da2ced60f98353fea74ace"><td class="memItemLeft" align="right" valign="top">PxU16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#a417fed9862da2ced60f98353fea74ace">constraintLengthOver16</a></td></tr>
<tr class="memdesc:a417fed9862da2ced60f98353fea74ace"><td class="mdescLeft">&#160;</td><td class="mdescRight">constraintLength/16, max constraint length is 1MB, allows <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> to fit in 32 bytes  <a href="#a417fed9862da2ced60f98353fea74ace">More...</a><br /></td></tr>
<tr class="separator:a417fed9862da2ced60f98353fea74ace"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a577215addd09b9e092aae536157161"><td class="memItemLeft" align="right" valign="top">PxU8 *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#a7a577215addd09b9e092aae536157161">constraint</a></td></tr>
<tr class="memdesc:a7a577215addd09b9e092aae536157161"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to the constraint rows to be solved.  <a href="#a7a577215addd09b9e092aae536157161">More...</a><br /></td></tr>
<tr class="separator:a7a577215addd09b9e092aae536157161"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9b299864d3b98e18fcfc6a089bb7f79"><td class="memItemLeft" align="right" valign="top">void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#ae9b299864d3b98e18fcfc6a089bb7f79">writeBack</a></td></tr>
<tr class="memdesc:ae9b299864d3b98e18fcfc6a089bb7f79"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to the writeback structure results for this given constraint are to be written to.  <a href="#ae9b299864d3b98e18fcfc6a089bb7f79">More...</a><br /></td></tr>
<tr class="separator:ae9b299864d3b98e18fcfc6a089bb7f79"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr class="memitem:a87d502cd319544604669cb843a239fb0"><td class="memItemLeft" align="right" valign="top">static const PxU16&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structPxSolverConstraintDesc.html#a87d502cd319544604669cb843a239fb0">NO_LINK</a> = 0xffff</td></tr>
<tr class="separator:a87d502cd319544604669cb843a239fb0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="aa0a51c38561792f72763a9e214eaa150"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa0a51c38561792f72763a9e214eaa150">&#9670;&nbsp;</a></span>ConstraintType</h2>

<div class="memitem">
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          <td class="memname">enum <a class="el" href="structPxSolverConstraintDesc.html#aa0a51c38561792f72763a9e214eaa150">PxSolverConstraintDesc::ConstraintType</a></td>
        </tr>
      </table>
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<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="aa0a51c38561792f72763a9e214eaa150af07aa2676bc3a0f445124a369d76178d"></a>eCONTACT_CONSTRAINT&#160;</td><td class="fielddoc"><p>Defines this pair is a contact constraint. </p>
</td></tr>
<tr><td class="fieldname"><a id="aa0a51c38561792f72763a9e214eaa150a964367059d7c0c8b31ee93cd614a1aac"></a>eJOINT_CONSTRAINT&#160;</td><td class="fielddoc"><p>Defines this pair is a joint constraint. </p>
</td></tr>
</table>

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<h2 class="groupheader">Member Data Documentation</h2>
<a id="acaabb08eb4c3d4bc24405f3dc267096b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acaabb08eb4c3d4bc24405f3dc267096b">&#9670;&nbsp;</a></span>@10</h2>

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          <td class="memname">union { ... } </td>
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<h2 class="memtitle"><span class="permalink"><a href="#a379414a179a4e7e86d34877f1e70cf97">&#9670;&nbsp;</a></span>@8</h2>

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          <td class="memname">union { ... } </td>
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<h2 class="memtitle"><span class="permalink"><a href="#a591b8d338b0e9932d67f405542776065">&#9670;&nbsp;</a></span>articulationA</h2>

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          <td class="memname">Dy::ArticulationV* PxSolverConstraintDesc::articulationA</td>
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<p>Articulation pointer for body A. </p>

</div>
</div>
<a id="a1452b23eaf124e9740f26e4bb98477ca"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1452b23eaf124e9740f26e4bb98477ca">&#9670;&nbsp;</a></span>articulationB</h2>

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          <td class="memname">Dy::ArticulationV* PxSolverConstraintDesc::articulationB</td>
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<p>Articulation pointer for body B. </p>

</div>
</div>
<a id="a917f6a5b6829c4c6f8f44182628e4e2e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a917f6a5b6829c4c6f8f44182628e4e2e">&#9670;&nbsp;</a></span>bodyA</h2>

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          <td class="memname"><a class="el" href="structPxSolverBody.html">PxSolverBody</a>* PxSolverConstraintDesc::bodyA</td>
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<p>bodyA pointer </p>

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<a id="a75d8cc26a512bd1e1a1e1a965decfa83"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a75d8cc26a512bd1e1a1e1a965decfa83">&#9670;&nbsp;</a></span>bodyADataIndex</h2>

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          <td class="memname"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> PxSolverConstraintDesc::bodyADataIndex</td>
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<p>Body A's index into the SolverBodyData array. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6144adf5b9396847a54da7d7c17a770f">&#9670;&nbsp;</a></span>bodyB</h2>

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          <td class="memname"><a class="el" href="structPxSolverBody.html">PxSolverBody</a>* PxSolverConstraintDesc::bodyB</td>
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<p>BodyB pointer. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a0e7c10b35dcc40b914857957fa64beb2">&#9670;&nbsp;</a></span>bodyBDataIndex</h2>

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          <td class="memname"><a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> PxSolverConstraintDesc::bodyBDataIndex</td>
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<p>Body B's index into the SolverBodyData array. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7a577215addd09b9e092aae536157161">&#9670;&nbsp;</a></span>constraint</h2>

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<p>Pointer to the constraint rows to be solved. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a417fed9862da2ced60f98353fea74ace">&#9670;&nbsp;</a></span>constraintLengthOver16</h2>

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<p>constraintLength/16, max constraint length is 1MB, allows <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> to fit in 32 bytes </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab7d352db61fd0a031d9574a4322e629d">&#9670;&nbsp;</a></span>linkIndexA</h2>

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<p>Link index defining which link in Articulation A this constraint affects. If not an articulation, must be NO_LINK. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a833220f6cf3fef57bee54a4cfaa81049">&#9670;&nbsp;</a></span>linkIndexB</h2>

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<p>Link index defining which link in Articulation B this constraint affects. If not an articulation, must be NO_LINK. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a87d502cd319544604669cb843a239fb0">&#9670;&nbsp;</a></span>NO_LINK</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a4e75c52e5f71af359af9b62c3f709564">&#9670;&nbsp;</a></span>tgsBodyA</h2>

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<p>bodyA pointer </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a25fc01cac6b0554cac348a5c47430dc0">&#9670;&nbsp;</a></span>tgsBodyB</h2>

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<p>BodyB pointer. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ae9b299864d3b98e18fcfc6a089bb7f79">&#9670;&nbsp;</a></span>writeBack</h2>

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<p>Pointer to the writeback structure results for this given constraint are to be written to. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aaa77283c5efaa8f2b11611881729e8b8">&#9670;&nbsp;</a></span>writeBackLengthOver4</h2>

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<p>writeBackLength/4, max writeback length is 256K, allows <a class="el" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a> to fit in 32 bytes </p>

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<hr/>The documentation for this struct was generated from the following file:<ul>
<li><a class="el" href="PxSolverDefs_8h_source.html">PxSolverDefs.h</a></li>
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